reusable-build-coverage.yml

name: Reusable Coverage Build
on:
  workflow_call:
    inputs:
      ros_distro:
        description: 'ROS2 distribution name'
        required: true
        type: string
      debug:
        description: 'Add debug output'
        type: boolean
        default: false

jobs:
  coverage:
    name: coverage build ${{ inputs.ros_distro }}
    runs-on: ubuntu-latest
    container: ghcr.io/sloretz/ros:${{ inputs.ros_distro }}-ros-base
    defaults:
      run:
        shell: bash
    steps:
      - name: "Determine prerequisites"
        id: prereq
        run: |
          command -v sudo >/dev/null 2>&1 || (apt update && apt install -y sudo)
          sudo apt update
          echo "need_node=$(command -v node >/dev/null 2>&1 && echo 0 || echo 1)" >> $GITHUB_OUTPUT
          echo "need_ros2=$(if [ -d "/opt/ros/${{ inputs.ros_distro }}" ]; then echo 0; else echo 1; fi)" >> $GITHUB_OUTPUT

      # needed for github actions, and only if a bare ubuntu image is used
      - uses: actions/setup-node@v4
        if: ${{ steps.prereq.outputs.need_node == '1' && !env.ACT }}
      - name: Install node
        # Consider switching to https://github.com/actions/setup-node when it works
        # https://github.com/nektos/act/issues/973
        if: ${{ steps.prereq.outputs.need_node == '1' && env.ACT }}
        run: |
          sudo apt install -y curl
          curl -sS https://webi.sh/node | sh
          echo ~/.local/opt/node/bin >> $GITHUB_PATH

      # overwrite ros distro with testing
      - uses: ros-tooling/setup-ros@0.7.9
        with:
          use-ros2-testing: true
      - name: Install coverage tools
        # https://coverage.readthedocs.io/en/7.6.1/
        # https://github.com/colcon/colcon-coveragepy-result
        # https://github.com/colcon/colcon-lcov-result
        # install coverage.py in a virtual environment and add it to the PATH
        # in the end it has to be available in the PATH for codecov-action
        run: |
          set -v
          sudo apt-get install -qq lcov python3-colcon-lcov-result
          sudo apt-get install -qq python3-colcon-coveragepy-result python3-pytest-cov python3-pip python3-venv
          python3 -m venv ~/.venv --system-site-packages
          source ~/.venv/bin/activate
          python3 -m pip install coverage --upgrade
          echo PATH=$PATH >> $GITHUB_ENV
      - name: Test coverage tools
        if: ${{ inputs.debug }}
        run: |
          pwd
          which coverage || true
          python3 -m coverage --version || true
          coverage --version || true
          source ~/.venv/bin/activate || true
          python3 -m coverage --version || true
          coverage --version || true
          which coverage || true
          ls ~/.venv/bin || true
      - uses: actions/checkout@v4
      - id: package_list_action
        uses: ros-controls/ros2_control_ci/.github/actions/set-package-list@master
      - name: Check for local repos file
        id: check_local_repos
        run: |
          if [ -f ${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos ]; then
            echo "Local repos file found"
            echo "repo_file=${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos" >> $GITHUB_OUTPUT
          else
            echo "No local repos file found"
            echo "repo_file=" >> $GITHUB_OUTPUT
          fi
      - uses: ros-tooling/action-ros-ci@0.3.15
        with:
          target-ros2-distro: ${{ inputs.ros_distro }}
          import-token: ${{ secrets.GITHUB_TOKEN }}
          # build all packages listed here
          package-name: ${{ steps.package_list_action.outputs.package_list }}
          vcs-repo-file-url: ${{ steps.check_local_repos.outputs.repo_file }}
          colcon-defaults: |
            {
              "build": {
                "mixin": ["coverage-gcc", "coverage-pytest"]
              },
              "test": {
                "mixin": ["coverage-pytest"]
              }
            }
          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
      - name: Test coverage tools
        if: ${{ inputs.debug }}
        run: |
          pwd
          which coverage || true
          python3 -m coverage --version || true
          coverage --version || true
          source ~/.venv/bin/activate || true
          python3 -m coverage --version || true
          coverage --version || true
          which coverage || true
          ls ~/.venv/bin || true
      - name: Search for .coverage files and convert them
        continue-on-error: true
        # TODO(anyone): remove this once codecov-action does not throw
        # "coverage.py is not installed or can't be found."
        # note: reports from pytest-cov are already in the correct format
        run: |
          find ros_ws -name total_coverage.info
          find ros_ws -name .coverage
          source ~/.venv/bin/activate
          for coverage_file in $(find ros_ws -name .coverage); do
            output_file="${coverage_file%/.coverage}/coverage.xml"
            if [ ! -f "$output_file" ]; then
              python3 -m coverage xml --data-file "$coverage_file" -o "$output_file"
            fi
          done
        # python3 -m coverage combine --data-file ros_ws/coveragepy/.coverage $(find ros_ws -name .coverage)
      - uses: codecov/codecov-action@v4
        with:
          fail_ci_if_error: true
          flags: unittests
          name: codecov-umbrella
          token: ${{ secrets.CODECOV_TOKEN }}
      - uses: actions/upload-artifact@v4.5.0
        with:
          name: colcon-logs-coverage-${{ inputs.ros_distro }}
          path: ros_ws/log